//
// Created by de on 4/2/21.
//

#include "StateSelection/StateSelection.h"

StateSelection::StateSelection(ros::NodeHandle *node) {

    this->node = node;
    p_RosHandler = std::make_shared<RosHandler>(node);
    p_Semaphore = std::make_shared<CSemaphore>();
    p_DeviceControlCode = std::make_shared<ForceDeviceCommCode>();
}


void StateSelection::setSqlController() {

}

void StateSelection::setWorkResult(std::shared_ptr<WorkResult>& p_workResult)
{
//    spdlog::warn("Notice WorkResult update ...");
    this->p_workResult = p_workResult;
}

std::shared_ptr<WorkResult> &StateSelection::getWorkResult() {
    return p_workResult;
}

void StateSelection::initRosServiceClient() {

}





RosHandler *StateSelection::getRosHandler() {
    return p_RosHandler.get();
}

ForceDeviceCommCode *StateSelection::getDeviceControlCode() {
    return p_DeviceControlCode.get();
}


